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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #ifndef AO_FLIGHT_TEST
  19 #include "ao.h"
  20 #endif
  21
  22 #ifndef HAS_ACCEL
  23 #error Please define HAS_ACCEL
  24 #endif
  25
  26 #ifndef HAS_GPS
  27 #error Please define HAS_GPS
  28 #endif
  29
  30 #ifndef HAS_USB
  31 #error Please define HAS_USB
  32 #endif
  33
  34 /* Main flight thread. */
  35
  36 __pdata enum ao_flight_state    ao_flight_state;        /* current flight state */
  37
  38 __pdata uint8_t                 ao_flight_force_idle;
  39
  40 void
  41 ao_flight(void)
  42 {
  43         ao_sample_init();
  44         ao_flight_state = ao_flight_startup;
  45         for (;;) {
  46
  47                 /*
  48                  * Process ADC samples, just looping
  49                  * until the sensors are calibrated.
  50                  */
  51                 if (!ao_sample())
  52                         continue;
  53
  54                 switch (ao_flight_state) {
  55                 case ao_flight_startup:
  56
  57                         /* Check to see what mode we should go to.
  58                          *  - Invalid mode if accel cal appears to be out
  59                          *  - pad mode if we're upright,
  60                          *  - idle mode otherwise
  61                          */
  62                         if (!ao_flight_force_idle)
  63                         {
  64                                 /* Set pad mode - we can fly! */
  65                                 ao_flight_state = ao_flight_pad;
  66 #if HAS_USB
  67                                 /* Disable the USB controller in flight mode
  68                                  * to save power
  69                                  */
  70                                 ao_usb_disable();
  71 #endif
  72
  73                                 /* Disable packet mode in pad state */
  74                                 ao_packet_slave_stop();
  75
  76                                 /* Turn on telemetry system */
  77                                 ao_rdf_set(1);
  78                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON);
  79
  80                                 /* signal successful initialization by turning off the LED */
  81                                 ao_led_off(AO_LED_RED);
  82                         } else {
  83                                 /* Set idle mode */
  84                                 ao_flight_state = ao_flight_idle;
  85
  86                                 /* signal successful initialization by turning off the LED */
  87                                 ao_led_off(AO_LED_RED);
  88                         }
  89                         /* wakeup threads due to state change */
  90                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
  91
  92                         break;
  93                 case ao_flight_pad:
  94
  95                         /* pad to coast:
  96                          *
  97                          * barometer: > 20m vertical motion
  98                          */
  99                         if (ao_height > AO_M_TO_HEIGHT(20))
 100                         {
 101                                 ao_flight_state = ao_flight_drogue;
 102
 103                                 /* start logging data */
 104                                 ao_log_start();
 105
 106 #if HAS_GPS
 107                                 /* Record current GPS position by waking up GPS log tasks */
 108                                 ao_wakeup(&ao_gps_data);
 109                                 ao_wakeup(&ao_gps_tracking_data);
 110 #endif
 111
 112                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 113                         }
 114                         break;
 115                 case ao_flight_drogue:
 116                         break;
 117
 118                 }
 119         }
 120 }
 121
 122 static __xdata struct ao_task   flight_task;
 123
 124 void
 125 ao_flight_init(void)
 126 {
 127         ao_flight_state = ao_flight_startup;
 128         ao_add_task(&flight_task, ao_flight, "flight");
 129 }